Journal of Shandong University(Engineering Science) ›› 2019, Vol. 49 ›› Issue (5): 119-126.doi: 10.6040/j.issn.1672-3961.0.2018.396

• Machine Learning & Data Mining • Previous Articles    

A force-based method for robot hole-searching and assembly

Yujun WU(),Wei WU,Yu GUO*(),Jian GUO   

  1. School of Automation, Nanjing University of Science and Technology, Nanjing 210094, Jiangsu, China
  • Received:2018-09-09 Online:2019-10-20 Published:2019-10-18
  • Contact: Yu GUO E-mail:wyj5178858@qq.com;guoyu@njust.edu.cn
  • Supported by:
    国家自然基金项目(61773211);国家自然基金项目(61673219);江苏省重点研发计划项目(BE2017161);江苏高校优势学科建设工程资助项目(AD20540)

Abstract:

In the process of replacing arresters for live working robots, a method based on force control for robot to search hole on insulated cross-arms and assembling arresters was proposed for accurate assembly. In the control process, a force sensor was installed at the end of the robot for the special shape of the arrester's lower end and the scene of the pole cross arm, and the converted force was used as the controlled amount. A peg-in-hole assembly strategy was designed, which included four processes of touching, hunting, evolving and inserting. The robot could insert the arrester's lower end into the mounting hole on the cross arm accurately. The experimental results verified the effectiveness of the proposed method.

Key words: force sensor, live work robot, assembly work, manipulator, D-H parameter method, hole-finding strategy

CLC Number: 

  • TP241.2

Table 1

UR5 basic parameters list"

自由度 质量/kg 负载/N 延伸/mm 关节范围/(°) 最大关节速度/((°)·s-1)
6 18.4 49 850 ±360 30

Fig.1

Connection of the manipulator end"

Fig.2

Connected coordinate system of the manipulator"

Table 2

D-H parameter list of UR5"

关节序号i αi/(°) ai/mm di/mm θi/(°) θimin/(°) θimax/(°)
1 90 0 89.16 θ1 -360 360
2 0 -425.00 0 θ2 -360 360
3 0 392.25 0 θ3 -360 360
4 90 0 109.15 θ4 -360 360
5 -90 0 94.65 θ5 -360 360
6 0 0 82.30 θ6 -360 360

Table 3

Force sensor basic parameters list"

传感器型号 外径/mm 内径/mm 厚度/mm 质量/g 测量力范围/N 测量力矩范围/(N·m)
FT-300 6 18.4 5 850 ±360 0~30

Fig.3

Coordinate system of force sensor"

Fig.4

The flow chart of hole-searching and assembly"

Fig.5

Manipulator end force of z axis in touching"

Fig.6

Arrester location in touching"

Fig.7

Linear hunting"

Fig.8

Round hunting"

Fig.9

Elliptical spiral track on the cross arm"

Fig.10

Manipulator end force of Z axis in hunting"

Fig.11

Arrester location in hunting"

Fig.12

Manipulator end force in evolving"

Fig.13

Force analysis on screw"

Fig.14

Arrester location in evolving"

Fig.15

Manipulator end force of z axis in inserting"

Fig.16

Arrester location in inserting"

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